CN105383654A - Depth control device of autonomous underwater vehicle - Google Patents

Depth control device of autonomous underwater vehicle Download PDF

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Publication number
CN105383654A
CN105383654A CN201510727297.6A CN201510727297A CN105383654A CN 105383654 A CN105383654 A CN 105383654A CN 201510727297 A CN201510727297 A CN 201510727297A CN 105383654 A CN105383654 A CN 105383654A
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China
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depth
buoyancy
control
latent
dive
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CN201510727297.6A
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Chinese (zh)
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CN105383654B (en
Inventor
魏延辉
周星合
高苇杭
胡佳兴
于媛媛
杨子扬
刘合伟
贾献强
韩寒
王泽鹏
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哈尔滨工程大学
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14Control of attitude or depth
    • B63G8/24Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63GOFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14Control of attitude or depth
    • B63G8/22Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks

Abstract

The invention relates to the technical field of underwater robots, in particular to a depth control device of an autonomous underwater vehicle and a control method thereof. The depth control device can realize fast and accurate depth control on the great-depth and long-endurance condition of the autonomous underwater vehicle. The depth control device of the autonomous underwater vehicle comprises a depth data collection system, a buoyancy adjusting system, a propelling system, a depth controller and a great-depth underwater vehicle buoyancy model. The depth data collection system collects the depth information of the autonomous underwater vehicle through a depth gauge, a height gauge, a salt depth sensor and an inertial system, and the depth information of the underwater vehicle is extracted through signal synchronization and fusion of an information collection system and then is transmitted to the depth controller and the buoyancy model. The buoyancy adjusting system and the propelling system are combined in the design of a depth control system of the underwater vehicle, and therefore the requirement for fastness of system depth control can be met, and the stability and the robustness of depth servo control can be guaranteed.

Description

A kind of autonomous underwater is dived the depth control apparatus of device
Technical field
The present invention relates to under-water robot technical field, what be specifically related to is that a kind of dive autonomous underwater of the fast, accurately severity control of device when the large degree of depth, long boat in situation of autonomous underwater that can realize is dived the depth control apparatus of device and control method thereof, the method.
Background technology
The dive output propelling unit of depth control system of device of autonomous underwater is generally two kinds: a kind of is common screw propeller, in order to meet its vertical movement needs, produces vertical thrust, need hull vertical at least arrange a conduit screw propeller; Another kind of for arranging diving rudder (or being horizontal tail), produce lift by diving rudder during motion, and then change autonomous underwater and to dive device casterangle, lotus root closes axial motion, produces rising and dive campaign.
But there is following shortcoming in above-mentioned two kinds of ways:
1, under water high speed operation time, there is larger thrust deduction problem in conduit screw propeller, even there will be the degree of depth out of control; Conduit oar running balance consumed energy is more, decreases autonomous underwater and to dive the voyage of device; When running into larger vertical ocean current, only with vertical conduit oar, available resistivity is more weak.
2, diving rudder regulates trim only under the large speed of a ship or plane, just has higher steerage; Simple employing diving rudder cannot realize vertical dive motion, can only carry out motion and hide; Regulate trim by diving rudder in navigation, although consumed energy is less, while diving rudder provides lift, also have larger resistance, need to promote mainly the more energy of screw propeller consumption to complete constant speed motion.
Device of diving needs depthkeeping under low speed and hover state, and diving rudder is ineffective.General dependence vertical channels propelling unit, to realize automatic fixing depth, makes latent device keep good buoyancy balanced by Buoyance adjustment system simultaneously.
Under same test conditions, have studied a large amount of step response process, find that autonomous underwater dives device in the dive motion process of reality, often occur that severity control aspect is that control response brings very large overshoot, and keep the deviation of stage distance desired depth larger in the degree of depth.This be due to autonomous underwater dive device dive and require realize depthkeeping motion process in, interference (as ocean current, wave) is there is in actual motion environment, and autonomous underwater is dived the uncertain hydrodynamic property of device itself and model parameter under the different speed of a ship or plane, designed control system can not overcome these and change the impact brought to control object, at the very possible temporarily get out of hand of degree of depth dynamic response stage platform, cause large overshoot; Desired depth can not be kept at steady steaming stage platform.
Many research institutions have studied a kind of buoyancy regulating device, and the buoyant state of device of diving according to depth of water adjustment, makes latent device in depthkeeping situation, ensure that buoyancy is equal with gravity, ensure device stablizing under depthkeeping of diving.But only rely on buoyancy regulating system and control the depthkeeping of device of diving, its speed of response and robustness poor.
At present about autonomous underwater dive device depth control apparatus some designs in, the Non-smooth surface finite-time control method designed in " the Non-smooth surface finite-time control of autonomous underwater robot " Song's apricot fruit paper, can be avoided stall event makes again the rapidity of its dive be improved, but its reliability and precision have much room for improvement." application of wavelet neural network automatic disturbance rejection controller under water in robot severity control " " computing machine and modernization " the 6th phase in 2015, the wavelet neural network automatic disturbance rejection controller antijamming capability designed herein is strong, stability is high, but can't meet the requirement of actual task in speed of response and energy consumption." under-water robot buoyancy regulating system and depth control technology research thereof " Lee builds in controller designed in friend's paper, Fuzzy Sliding Mode Control device has the control effects such as response is fast, less energy consumption for the unpowered heave movement of the large depth range of underwater hiding-machine, but control accuracy is not high, overshoot is large, threatens in the application of reality to underwater hiding-machine; The fuzzy depth controller of adaptive sliding mode has high control accuracy for underwater hiding-machine, but speed of response is slow, and energy consumption is large.These two kinds of depth controllers all can not take into account the factor of control accuracy height and the few these two aspects of system energy consumption.
The present invention adopts the propelling unit of buoyancy regulating device and latent device to carry out combine regulation, and latent device severity control when adopting the control method of compound to carry out the large degree of depth, long boat.
Summary of the invention
The object of the invention is to provide a kind of general autonomous underwater to dive the depth control apparatus of device.
The object of the present invention is achieved like this:
Autonomous underwater is dived the depth control apparatus of device, comprise depth data acquisition system, buoyancy regulating system, propulsion system, depth controller, large depth underwater dive device buoyancy model, depth data acquisition system is gathered the dive depth information of device of autonomous underwater jointly by depth index, altimeter, the dark sensor of salt and inertial system, synchronous and merge through the signal of information acquisition system, extract the depth information of latent device, be sent to depth controller and buoyancy model respectively; Buoyancy regulating system is for regulating the buoyancy of underwater hiding-machine, and the buoyancy realizing the latent device under depthkeeping state is equal with gravity, ensures the high precision Depth control of latent device; Propulsion system is made up of horizontal propeller, vertical pusher and adjustment rudder, for autonomous underwater device of diving provides advance and the power of dive; The severity control instruction that the central control unit that depth controller dives device according to autonomous underwater transmits, the relatively depth information of degree of depth information acquisition system transmission, the latent device buoyancy information simultaneously calculated according to buoyancy model carries out COMPREHENSIVE CALCULATING and control, the severity control instruction calculated sent to buoyancy regulating system and autonomous underwater to dive the power control system of device, realize severity control; Large depth underwater device buoyancy model of diving relies on salinity, pressure, the temperature of different depth of ocean, and set up the buoyancy model of device of diving according to actual experience data, the severity control for underwater hiding-machine provides detailed parameter.
The present invention compared with prior art, has following outstanding substantial advantage and beneficial effect:
(1) adopt buoyancy regulating device and propelling unit to carry out unitized design to dive the depth control system of device, both the simple slow problem of speed of response relying on buoyancy regulating system and control had been overcome, meet the rapidity requirement that system depth controls, also overcome the servocontrolled concussion of simple dependence impeller system when target depth and the problem of poor anti jamming capability, ensure degree of depth servocontrolled stability and robustness.
(2) adopt multiple dimensioned severity control combined method, deeply adjust control policy and select the combined method of control setup according to different sea situation and sea, the degree of depth realizing latent device accurately controls fast.
(3) buoyancy regulating system designed and propelling unit adopt energy-optimised principle, reduce the energy resource consumption of actuating unit, improve the time of run under water of device of diving.
Accompanying drawing explanation
Fig. 1 depth control system structural representation;
Fig. 2 depth control apparatus;
The mode that Fig. 3 is multiple dimensioned;
Fig. 4 buoyancy regulating system;
Fig. 5 buoyancy control process;
Fig. 6 diagram of circuit of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in more detail.
The present invention relates to under-water robot field, provide a kind of autonomous underwater and to dive device depth control system structure and control method thereof.This structure is applicable to the large degree of depth, the autonomous underwater grown when navigating dives device, be divided into four parts such as depth data acquisition system, buoyancy regulating system, propulsion system, depth controller: depth data acquisition system is gathered the dive depth information of device of autonomous underwater jointly by depth index, altimeter, the dark sensor of salt and inertial system, synchronous and merge through the signal of information acquisition system, extract the depth information of true device of diving, be sent to depth controller respectively, buoyancy regulating system is for regulating the buoyancy of underwater hiding-machine, and the buoyancy realizing the latent device under depthkeeping state is equal with gravity, ensures the high precision Depth control of latent device, propulsion system is made up of horizontal propeller, vertical pusher and adjustment rudder, for autonomous underwater device of diving provides advance and the power of dive, comprise large depth underwater in depth controller to dive device buoyancy model, this model relies on the salinity of the different depth of ocean, pressure, temperature, the buoyancy model of device of diving is set up according to actual experience data, severity control for underwater hiding-machine provides detailed parameter, the severity control instruction that the central control unit that depth controller dives device according to autonomous underwater transmits, the relatively depth information of degree of depth information acquisition system transmission, the latent device buoyancy information simultaneously calculated according to the buoyancy model set up in controller carries out COMPREHENSIVE CALCULATING and control, buoyancy regulating system and autonomous underwater the severity control instruction calculated is sent to dive the power control system of device, realize severity control.The present invention also provides fast, exact depth combination control method.The present invention is that the autonomous underwater of Multiple Type is dived the quick exact depth control setup of device when providing the long boat of a kind of large degree of depth and method, for the autonomous underwater stable under-water operation of device of diving is given security.
Autonomous underwater is dived the depth control apparatus of device and control method thereof, this structure is applicable to the large degree of depth, autonomous underwater during long boat is dived device, be divided into depth data acquisition system, buoyancy regulating system, propulsion system, depth controller, large depth underwater is dived five parts such as device buoyancy model: depth data acquisition system is by depth index, altimeter, the dark sensor of salt and inertial system gather the dive depth information of device of autonomous underwater jointly, synchronous and merge through the signal of information acquisition system, extract the depth information of latent device, be sent to depth controller and buoyancy model respectively, buoyancy regulating system is for regulating the buoyancy of underwater hiding-machine, and the buoyancy realizing the latent device under depthkeeping state is equal with gravity, ensures the high precision Depth control of latent device, propulsion system is made up of horizontal propeller, vertical pusher and adjustment rudder, for autonomous underwater device of diving provides advance and the power of dive, the severity control instruction that the central control unit that depth controller dives device according to autonomous underwater transmits, the relatively depth information of degree of depth information acquisition system transmission, the latent device buoyancy information simultaneously calculated according to buoyancy model carries out COMPREHENSIVE CALCULATING and control, the severity control instruction calculated sent to buoyancy regulating system and autonomous underwater to dive the power control system of device, realize severity control, large depth underwater device buoyancy model of diving relies on salinity, pressure, the temperature of different depth of ocean, and set up the buoyancy model of device of diving according to actual experience data, the severity control for underwater hiding-machine provides detailed parameter.The present invention also provides fast, exact depth combination control method.
Depth control apparatus is made up of the horizontal main thruster of device of diving, vertical pusher and horizontal tail, steering rudder, buoyancy regulating system.The profile of device of independently diving under water is based on stream line pattern, very little at forward direction motion resistance, can ensure that horizontal propeller advances with maximum efficiency, ensure that the resistance of working direction is very little, and in other direction as the resistance of motion of floating, dive is comparatively large, latent device is with utmost dispatch floating and dive therefore to adopt the combination of horizontal propeller and adjustment rudder to ensure.Because latent device resistance of motion is in the vertical direction comparatively large, simple to rely on the dive diving speed of device of vertical pusher relatively slow.Buoyancy regulating system is then the severity control by regulating the buoyancy of latent device to realize latent device, therefore adopt the speed of which controlling depth the slowest, but it is higher that it controls progress, special under static suspended state, degree of depth servo can be realized by power, for fine setting and the servocontrol of latent device depth location.
When the difference of severity control is larger, adopt the mode that device diving speed of diving is the fastest, namely horizontal propeller carries out with regulating rudder the form combined, and controls device dive of diving fast.Adopt the simplest pid control mode in this stage, when depth error is larger, propulsion system is exported maximum, move to target depth with the fastest speed.
When latent device arrival distance set depth about 10 meters, the latent device attitude of adjustment, the pitch angle controlling latent device is zero, then controls vertical pusher, makes latent device with middling speed dive.This stage adopts sliding formwork mode, close to target depth.
When the latent device distance objective degree of depth 1 meter of scope, close vertical pusher, pass through buoyancy regulating system, make latent device slowly close to target depth, until arrive target depth servo in this degree of depth, this stage adopts Fuzzy Adaptive Control Scheme, close to target depth or this degree of depth of servo.
Buoyancy regulating system is made up of fuel tank, kinetic pump, three electromagnetic valves, three oil sacs.Wherein fuel tank, kinetic pump and last electromagnetic valve are in sealed module, and three oil sacs are arranged in latent device bow end, midship end and stern end.When latent device needs buoyancy regulating system to provide buoyancy, oil in fuel tank is delivered to three electromagnetic valve ends by kinetic pump work, depth control system opens electromagnetic valve, be filled into by oil in oil sac, oil sac volume becomes large, and then increases the buoyancy of device of diving, when buoyancy reaches requirement, shut electromagnetic valve, closes kinetic pump simultaneously, and the buoyancy of device of diving just maintains definite value; When latent device needs buoyancy regulating system to reduce buoyancy, open electromagnetic valve, kinetic pump work, the oil in oil sac is delivered in fuel tank.No matter in dive or floating-upward process, the speed of kinetic pump can control, and then controls the oily steerability change in oil sac, the system stall avoiding Rapid Variable Design to bring and unstability.
The present invention is applicable to the large degree of depth, the autonomous underwater grown when navigating dives device, be divided into depth data acquisition system, buoyancy regulating system, propulsion system, depth controller, large depth underwater dives five parts such as device buoyancy model: depth data acquisition system is gathered the dive depth information of device of autonomous underwater jointly by depth index, altimeter, the dark sensor of salt and inertial system, synchronous and merge through the signal of information acquisition system, extract the depth information of latent device, be sent to depth controller and buoyancy model respectively; Buoyancy regulating system is for regulating the buoyancy of underwater hiding-machine, and the buoyancy realizing the latent device under depthkeeping state is equal with gravity, ensures the high precision Depth control of latent device; Propulsion system is made up of horizontal propeller, vertical pusher and adjustment rudder, for autonomous underwater device of diving provides advance and the power of dive; The severity control instruction that the central control unit that depth controller dives device according to autonomous underwater transmits, the relatively depth information of degree of depth information acquisition system transmission, the latent device buoyancy information simultaneously calculated according to buoyancy model carries out COMPREHENSIVE CALCULATING and control, the severity control instruction calculated sent to buoyancy regulating system and autonomous underwater to dive the power control system of device, realize severity control; Large depth underwater device buoyancy model of diving relies on salinity, pressure, the temperature of different depth of ocean, and set up the buoyancy model of device of diving according to actual experience data, the severity control for underwater hiding-machine provides detailed parameter.The present invention also provides fast, exact depth combination control method.
Depth control apparatus by device of diving propelling unit, regulate rudder, buoyancy regulating system to form.Due to the minimizing resistance of the stream line pattern principal security working direction of latent device, larger at other direction resistance of motion, therefore horizontal propeller and regulate the combination of rudder can realize the quick dive of latent device, and it is relatively slow once only to rely on the dive diving speed of device of vertical pusher.Buoyancy regulating system is then by regulating the buoyancy of latent device to realize the severity control of device of diving, therefore adopt which speed will slower once, but to control progress higher for it, especially under static suspended state, can realize degree of depth servo by power.
Multiple dimensioned control method, according to the difference between the current latent device place degree of depth and target depth, is both ensureing the stability of rapidity and the control controlled, the control method stage by stage of employing.When the difference of severity control is larger, adopt the mode that device diving speed of diving is the fastest, namely horizontal propeller carries out with regulating rudder the form combined, and controls device dive of diving fast.Adopt the simplest pid control mode in this stage, when depth error is larger, propulsion system is exported maximum, move to target depth with the fastest speed.When latent device arrival distance set depth about 10 meters, the latent device attitude of adjustment, the pitch angle controlling latent device is zero, then controls vertical pusher, makes latent device with middling speed dive.This stage adopts sliding formwork mode, close to target depth.When the latent device distance objective degree of depth 1 meter of scope, close vertical pusher, pass through buoyancy regulating system, make latent device slowly close to target depth, until arrive target depth servo in this degree of depth, this stage adopts Fuzzy Adaptive Control Scheme, close to target depth or this degree of depth of servo.
Buoyancy regulating system is made up of fuel tank, kinetic pump, three electromagnetic valves, three oil sacs.Wherein fuel tank, kinetic pump and last electromagnetic valve are in sealed module, and three oil sacs are arranged in latent device bow end, midship end and stern end.When latent device needs buoyancy regulating system to provide buoyancy, oil in fuel tank is delivered to three electromagnetic valve ends by kinetic pump work, depth control system opens electromagnetic valve, be filled into by oil in oil sac, oil sac volume becomes large, and then increases the buoyancy of device of diving, when buoyancy reaches requirement, shut electromagnetic valve, closes kinetic pump simultaneously, and the buoyancy of device of diving just maintains definite value; When latent device needs buoyancy regulating system to reduce buoyancy, open electromagnetic valve, kinetic pump work, the oil in oil sac is delivered in fuel tank.No matter in dive or floating-upward process, the speed of kinetic pump can control, and then controls the oily steerability change in oil sac, the system stall avoiding Rapid Variable Design to bring and unstability.
The present invention adopts buoyancy regulating system and propelling unit to carry out array mode and realizes device severity control of diving.This device is according to different severity control amplitudes, adopt different severity control array modes, meet quick dive, after reaching designated depth, reduce severity control concussion, adjustment System buoyancy and weight, improve system stability, this depth control apparatus and control method have very strong practicality and commonality, are applicable to various forms of underwater hiding-machine and underwater units.
Implement 1, by reference to the accompanying drawings 1, entity of the present invention is made up of depth index A, altimeter B, the dark sensor C of salt, inertial system D, information acquisition system E, depth controller F, buoyancy regulating system system G, propulsion system H and central control unit I.The output interface 1 of depth index A is connected to the input interface 2 of information acquisition system E, the output interface 3 of altimeter B is connected to the input interface 4 of information acquisition system E, the output interface 5 of the dark sensor C of salt is connected to the input interface 6 of information acquisition system E, the output interface 7 of inertial system D is connected to the input interface 8 of information acquisition system E, the output interface 9 of information acquisition system E is connected to the input interface 10 of depth controller F, the interface 12 of depth controller F is connected to the interface 11 of central control unit I, the output interface 13 of depth controller F is connected to the input interface 14 of buoyancy regulating system system G, the output interface 15 of depth controller F is connected to the input interface 16 of propulsion system H.
Depth index A is a large degree of depth and high accuracy depth sensor, follows carrier dive, and detecting the depth data of device dive of diving, is the accurate detecting sensor of the degree of depth of latent device.
The sensor of altimeter B to be one with acoustically be detection means, for detecting the height of carrier to seabed, avoids that latent device dive is too fast bumps against seabed, for the severity control of latent device provides safety detection.
Salt dark sensor C is a kind of sensor determining the degree of depth according to sea water salinity, this sensor is lower to depth detection precision, can combine with depth index A, realize the thick essence of the degree of depth and detect, adopt different sensors to detect in different depth control situation.
Inertial system D is with three fiber optic gyros and three accelerometers composition inertial systems, is used for detecting the attitude of carrier, combines with depth information the data can corrected depth transducer and export.
Information acquisition system E is used for gathering the data that depth information sensor transmits, data processing and information fusion, for latent device provides depth information and attitude information accurately.
Depth controller F is a high-speed computer system, and the severity control information according to depth information, attitude information and central control unit is compared and calculates, and obtains rational degree of depth combination mode.
Buoyancy regulating system system G is the device that a kind of volume change according to oil sac changes system buoyancy, the volume of three oil sacs is regulated to realize floating and the dive of latent device according to the order of depth controller, this buoyancy regulating system can also adjust the luffing angle of latent device simultaneously, realizes the pose adjustment of device under unpowered condition of diving.
Propulsion system H is made up of the horizontal main thruster of latent device, vertical pusher and horizontal tail and steering rudder, for the advance of latent device, floating dive, gesture stability provide power.
Implement 2, by reference to the accompanying drawings 2, depth control apparatus is made up of the horizontal main thruster of device of diving, vertical pusher and horizontal tail, steering rudder, buoyancy regulating system.The profile of device of independently diving under water is based on stream line pattern, very little at forward direction motion resistance, can ensure that horizontal propeller advances with maximum efficiency, ensure that the resistance of working direction is very little, and in other direction as the resistance of motion of floating, dive is comparatively large, latent device is with utmost dispatch floating and dive therefore to adopt the combination of horizontal propeller and adjustment rudder to ensure.Because latent device resistance of motion is in the vertical direction comparatively large, simple to rely on the dive diving speed of device of vertical pusher relatively slow.Buoyancy regulating system is then the severity control by regulating the buoyancy of latent device to realize latent device, therefore adopt the speed of which controlling depth the slowest, but it is higher that it controls progress, special under static suspended state, degree of depth servo can be realized by power, for fine setting and the servocontrol of latent device depth location.
Implement 3, by reference to the accompanying drawings 3, multiple dimensioned control method, according to the difference between the current latent device place degree of depth and target depth, is both ensureing the stability of rapidity and the control controlled, the control setup stage by stage of employing and different control methods.
By reference to the accompanying drawings 4, adopt PID controller during quick dive, its governing equation is:
u = K p ( e + 10 ) + K i ∫ 0 t e d t + K d d e d t - - - ( 1 )
In formula: e is depth offset, it is the deviation of current depth and target depth.
U is that controller exports, and regulates the angle of horizontal propeller speed and adjustment rudder.
K p, K i, K dbe respectively proportional coefficient, integral item coefficient and differential term coefficient.
When after the arrival distance objective degree of depth 10 meters of scopes, adopt sliding formwork mode, its controller control law:
u=u at-u f(2)
x 1=z(3)
x 2=w(4)
u=τ z(5)
f ( x 1 , x 2 ) = Z w | w | m - Z w · w | w | - - - ( 6 )
b = 1 m - Z w · - - - ( 7 )
u a t = 1 b ( - c 1 c 2 ( e · - p · ( t ) ) - f ( x 1 , x 2 ) + x ·· 1 d ) + 1 b ( p ·· ( t ) - ( Δ ^ + k ) sgn ( σ ) ) k > 0 - - - ( 8 )
Δ ^ · = ξ σ c 2 - - - ( 9 )
u f = f ^ b - - - ( 10 )
f ^ = e + N ( x 1 , x 2 ) - - - ( 11 )
e · = - L ( x 1 , x 2 ) e + L ( x 1 , x 2 ) ( - N ( x 1 , x 2 ) - f ( x 1 , x 2 ) - b u ) - - - ( 12 )
L(x 1,x 2)=aa>0(13)
N(x 1,x 2)=ax 2(14)
When after the arrival distance objective degree of depth 1 meter of scope, adopt fuzzy adaptive controller, its fuzzy control rule table is as follows:
Implement 4, by reference to the accompanying drawings 5, buoyancy regulating system is made up of fuel tank, kinetic pump, three electromagnetic valves, three oil sacs.Wherein fuel tank, kinetic pump and last electromagnetic valve are in sealed module, and three oil sacs are arranged in latent device bow end, midship end and stern end.When latent device needs buoyancy regulating system to provide buoyancy, oil in fuel tank is delivered to three electromagnetic valve ends by kinetic pump work, depth control system opens electromagnetic valve, be filled into by oil in oil sac, oil sac volume becomes large, and then increases the buoyancy of device of diving, when buoyancy reaches requirement, shut electromagnetic valve, closes kinetic pump simultaneously, and the buoyancy of device of diving just maintains definite value; When latent device needs buoyancy regulating system to reduce buoyancy, open electromagnetic valve, kinetic pump work, the oil in oil sac is delivered in fuel tank.No matter in dive or floating-upward process, the speed of kinetic pump can control, and then controls the oily steerability change in oil sac, the system stall avoiding Rapid Variable Design to bring and unstability.
If the average density of buoyancy regulating system is ρ, quality is m, and volume is V 0, volume when supposing buoyancy regulating system dive or float before and after each sampling interval is respectively V 1and V 2, the average density of corresponding buoyancy regulating system is respectively ρ 1and ρ 2then:
ρ = m V - - - ( 15 )
Because total mass m is constant constant in buoyancy regulating system dive or floating-upward process, known, if V by formula (1) 2> V 1, then ρ 2< ρ 1, namely when the oil body of oil sac in buoyancy regulating system enters outer oil sac through water pump suction, the cumulative volume of buoyancy regulating system becomes large, and system will float.When automatically controlled control cock is opened, the oil body in outer oil sac will pass back into interior oil sac under the effect of extraneous water body pressure, and buoyancy regulating system cumulative volume can diminish, now V 2< V 1, then ρ 2> ρ 1.
Implement 5, by reference to the accompanying drawings 6, when the difference of severity control is larger, adopt the mode that device diving speed of diving is the fastest, namely horizontal propeller carries out with regulating rudder the form combined, and controls device dive of diving fast.Adopt the simplest pid control mode in this stage, when depth error is larger, propulsion system is exported maximum, move to target depth with the fastest speed.
When latent device arrival distance set depth about 10 meters, the latent device attitude of adjustment, the pitch angle controlling latent device is zero, then controls vertical pusher, makes latent device with middling speed dive.This stage adopts sliding formwork mode, close to target depth.
When the latent device distance objective degree of depth 1 meter of scope, close vertical pusher, pass through buoyancy regulating system, make latent device slowly close to target depth, until arrive target depth servo in this degree of depth, this stage adopts Fuzzy Adaptive Control Scheme, close to target depth or this degree of depth of servo.

Claims (1)

1. an autonomous underwater is dived the depth control apparatus of device, comprise depth data acquisition system, buoyancy regulating system, propulsion system, depth controller, large depth underwater dive device buoyancy model, it is characterized in that: depth data acquisition system is gathered the dive depth information of device of autonomous underwater jointly by depth index, altimeter, the dark sensor of salt and inertial system, synchronous and merge through the signal of information acquisition system, extract the depth information of latent device, be sent to depth controller and buoyancy model respectively; Buoyancy regulating system is for regulating the buoyancy of underwater hiding-machine, and the buoyancy realizing the latent device under depthkeeping state is equal with gravity, ensures the high precision Depth control of latent device; Propulsion system is made up of horizontal propeller, vertical pusher and adjustment rudder, for autonomous underwater device of diving provides advance and the power of dive; The severity control instruction that the central control unit that depth controller dives device according to autonomous underwater transmits, the relatively depth information of degree of depth information acquisition system transmission, the latent device buoyancy information simultaneously calculated according to buoyancy model carries out COMPREHENSIVE CALCULATING and control, the severity control instruction calculated sent to buoyancy regulating system and autonomous underwater to dive the power control system of device, realize severity control; Large depth underwater device buoyancy model of diving relies on salinity, pressure, the temperature of different depth of ocean, and set up the buoyancy model of device of diving according to actual experience data, the severity control for underwater hiding-machine provides detailed parameter.
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CN105652878A (en) * 2016-03-28 2016-06-08 中国船舶重工集团公司第七研究所 Underwater target low-speed approaching and hovering submarine body combining multiple propellers
CN106394835A (en) * 2016-10-28 2017-02-15 重庆交通大学 Underwater detection robot
CN106527454A (en) * 2016-10-25 2017-03-22 西安兰海动力科技有限公司 Remote underwater vehicle depth setting control method without steady state error
CN106542071A (en) * 2016-11-28 2017-03-29 哈尔滨工程大学 Buoyancy and attitude balancer and control method for long voyage AUV
CN107544526A (en) * 2017-08-07 2018-01-05 熊学军 Oil sac formula underwater glider floatage accuracy control method
CN107776859A (en) * 2017-09-28 2018-03-09 哈尔滨工程大学 AUV deep motion buoyancy compensation control methods latent greatly
CN108357656A (en) * 2018-02-05 2018-08-03 天津大学 Oil sac mixes control ROV hovering and Depth control device under water with propeller
CN109018278A (en) * 2018-07-13 2018-12-18 哈尔滨工程大学 Without the unpowered dive method of trim and inhibit trim attachment suitable for complete extra large depth AUV
CN109018259A (en) * 2018-07-05 2018-12-18 上海查派机器人科技有限公司 Robot system
CN109144080A (en) * 2018-08-31 2019-01-04 华中科技大学 The deep-controlled strategy of submarine navigation device bow stern joint steering and its PID controller
CN109213180A (en) * 2018-07-13 2019-01-15 哈尔滨工程大学 It founds the safety during flat body AUV dive and throws and carry and depth control method
CN109466728A (en) * 2018-11-07 2019-03-15 上海海洋大学 Unpowered dive floating movement technique and system applied to deep-submarine
CN109795654A (en) * 2019-03-13 2019-05-24 余姚市浙江大学机器人研究中心 The buoyancy engine device of temperature active control phase transformation based on Peltier's element
CN109814581A (en) * 2019-01-09 2019-05-28 哈尔滨工业大学(威海) ROV underwater robot automatic fixing depth motion control method
CN109933080A (en) * 2017-12-15 2019-06-25 中国科学院沈阳自动化研究所 A kind of underwater robot submerging and surfacing motion control method with buoyancy adjustment function

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CN105652878B (en) * 2016-03-28 2018-08-24 中国船舶重工集团公司第七一〇研究所 The submarine target low speed that a kind of multi-thruster combines approaches and hovering submariner body
CN105652878A (en) * 2016-03-28 2016-06-08 中国船舶重工集团公司第七研究所 Underwater target low-speed approaching and hovering submarine body combining multiple propellers
CN106527454A (en) * 2016-10-25 2017-03-22 西安兰海动力科技有限公司 Remote underwater vehicle depth setting control method without steady state error
CN106394835A (en) * 2016-10-28 2017-02-15 重庆交通大学 Underwater detection robot
CN106542071B (en) * 2016-11-28 2018-05-18 哈尔滨工程大学 For the buoyancy of long voyage AUV and posture balance control method
CN106542071A (en) * 2016-11-28 2017-03-29 哈尔滨工程大学 Buoyancy and attitude balancer and control method for long voyage AUV
CN107544526A (en) * 2017-08-07 2018-01-05 熊学军 Oil sac formula underwater glider floatage accuracy control method
CN107776859A (en) * 2017-09-28 2018-03-09 哈尔滨工程大学 AUV deep motion buoyancy compensation control methods latent greatly
CN107776859B (en) * 2017-09-28 2019-02-26 哈尔滨工程大学 AUV deep movement buoyancy compensation control method latent greatly
CN109933080A (en) * 2017-12-15 2019-06-25 中国科学院沈阳自动化研究所 A kind of underwater robot submerging and surfacing motion control method with buoyancy adjustment function
CN108357656A (en) * 2018-02-05 2018-08-03 天津大学 Oil sac mixes control ROV hovering and Depth control device under water with propeller
CN109018259B (en) * 2018-07-05 2020-06-12 上海查派机器人科技有限公司 Robot system
CN109018259A (en) * 2018-07-05 2018-12-18 上海查派机器人科技有限公司 Robot system
CN109213180A (en) * 2018-07-13 2019-01-15 哈尔滨工程大学 It founds the safety during flat body AUV dive and throws and carry and depth control method
CN109018278A (en) * 2018-07-13 2018-12-18 哈尔滨工程大学 Without the unpowered dive method of trim and inhibit trim attachment suitable for complete extra large depth AUV
CN109018278B (en) * 2018-07-13 2020-06-16 哈尔滨工程大学 Non-trim unpowered diving method suitable for full-sea-depth AUV and trim restraining device
CN109144080A (en) * 2018-08-31 2019-01-04 华中科技大学 The deep-controlled strategy of submarine navigation device bow stern joint steering and its PID controller
CN109466728A (en) * 2018-11-07 2019-03-15 上海海洋大学 Unpowered dive floating movement technique and system applied to deep-submarine
CN109814581A (en) * 2019-01-09 2019-05-28 哈尔滨工业大学(威海) ROV underwater robot automatic fixing depth motion control method
CN109795654A (en) * 2019-03-13 2019-05-24 余姚市浙江大学机器人研究中心 The buoyancy engine device of temperature active control phase transformation based on Peltier's element

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